Medical devices having releasable coupling

ABSTRACT

This invention is directed to a medical device having a longitudinal axis, and including a handle and a catheter. The handle can include a body having a proximal end and a distal end, an actuator moveably coupled to the body, and a handle control member coupled to the actuator, wherein the actuator can be configured to move relative to the body to move the handle control member. The catheter can include a shaft having a proximal end and a distal end, wherein the proximal end of the shaft and the distal end of the body can be configured for releasable coupling. The catheter can also include a steering section located along the shaft and a catheter control member coupled to the steering section, wherein the catheter control member can be configured to move relative to the shaft to move the steering section relative to the longitudinal axis. The medical device can also include a securing member configured to move relative to at least one of the handle and the catheter to releasably couple the handle control member to the catheter control member.

DESCRIPTION OF THE INVENTION

This application is a continuation of U.S. patent application Ser. No.15/660,623, filed Jul. 26, 2017, which is a continuation of U.S. patentapplication Ser. No. 14/280,141, filed May 16, 2014, now U.S. Pat. No.9,757,537, issued Sep. 12, 2017, which is a continuation of U.S. patentapplication Ser. No. 13/359,917, filed Jan. 27, 2012, now U.S. Pat. No.8,777,898, issued Jul. 15, 2014, which claims the benefit of priorityfrom U.S. Provisional Patent Application No. 61/438,149, filed Jan. 31,2011, each of which is incorporated herein by reference in its entirety.

FIELD OF THE INVENTION

Embodiments of the present invention relate to medical devices. Inparticular, embodiments of the present invention include medical deviceshaving releasable coupling.

BACKGROUND OF THE INVENTION

Minimally invasive surgical tools, such as endoscopic and laparoscopicdevices, can provide access to surgical sites while minimizing patienttrauma. Although the growing capabilities of such therapeutic devicesallow physicians to perform an increasing variety of surgeries, furtherrefinements are needed to reduce costs associated with such procedures.

Some minimally invasive systems include surgical devices that may besterilized for reuse. Such devices are usually expensive to manufactureand must be designed to withstand multiple sterilization procedures.Similar disposable devices often have limited performance due to the useof cheaper materials and low-cost manufacturing techniques.

SUMMARY OF THE INVENTION

The medical devices described herein overcome at least some of thelimitations of the prior art. One aim of at least certain embodiments ofthe present invention is to reduce costs by providing a medical devicethat can include some reusable and some disposable components. Forexample, a medical device could include a reusable handle and adisposable catheter. The reusable handle could be adapted for use withdifferent types of catheters having different end-effectors.

One aspect of the invention is directed to a medical device having alongitudinal axis, and including a handle and a catheter. The handle caninclude a body having a proximal end and a distal end, an actuatormoveably coupled to the body, and a handle control member coupled to theactuator, wherein the actuator can be configured to move relative to thebody to move the handle control member. The catheter can include a shafthaving a proximal end and a distal end, wherein the proximal end of theshaft and the distal end of the body can be configured for releasablecoupling. The catheter can also include a steering section located alongthe shaft and a catheter control member coupled to the steering section,wherein the catheter control member can be configured to move relativeto the shaft to move the steering section relative to the longitudinalaxis. The medical device can also include a securing member configuredto move relative to at least one of the handle and the catheter toreleasably couple the handle control member to the catheter controlmember.

According to another aspect, the invention can include a handleconfigured to releasably couple to a catheter. The handle can include abody configured to releasably couple to the catheter, an actuatormoveably coupled to the body and configured to engage a user's hand, anda plurality of handle control members coupled to the actuator, whereinthe actuator can be configured to move relative to the body to move atleast one of the plurality of handle control members. The handle canalso include a securing member configured to move relative to the handleto releasably couple the plurality of handle control members to aplurality of catheter control members.

According to another aspect, the invention can include a catheterconfigured to releasably couple to a handle. The catheter can include ashaft configured to releasably couple to the handle, a steering sectionlocated along the shaft, and a plurality of catheter control memberscoupled to the steering section, wherein each of the plurality ofcatheter control members can include a first attachment member and canbe configured to move relative to the shaft to move the steeringsection. The catheter can also include a lumen configured to at leastpartially maintain coupling between the first attachment member and acorresponding attachment member located on a handle control member.

According to another aspect, the invention can include a method ofassembling a medical device. The method can include moving a handlehaving a handle control member relative to a catheter having a cathetercontrol member in untensioned state, to engage the handle control memberwith the catheter control member. The method can also include moving asecuring member from a first position to a second position to tensionthe catheter control member and couple the handle control member to thecatheter control member.

Additional objects and advantages of the invention will be set forth inpart in the description which follows, and in part will be obvious fromthe description, or may be learned by practice of the invention. Theobjects and advantages of the invention will be realized and attained bymeans of the elements and combinations particularly pointed out in theappended claims.

It is to be understood that both the foregoing general description andthe following detailed description are exemplary and explanatory onlyand are not restrictive of the invention, as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this specification, illustrate embodiments of the invention andtogether with the description, serve to explain the principles of theinvention.

FIG. 1 is perspective view of a device in a detached configuration,according to an exemplary embodiment of the invention;

FIG. 2 is a cut-away perspective view of a handle, according to anexemplary embodiment of the invention;

FIG. 3A is a side view of an end-effector articulated in three differentpositions, according to an exemplary embodiment of the invention;

FIG. 3B is a side view of various end-effectors, according to exemplaryembodiments of the invention;

FIG. 4A is a side view of a detached device, according to an exemplaryembodiment of the invention;

FIG. 4B is a side view of an attached device, according to an exemplaryembodiment of the invention;

FIG. 5 is a partial cut-away perspective view of a detached device,according to an exemplary embodiment of the invention;

FIG. 6 is a perspective view of a portion of a handle, according toanother exemplary embodiment of the invention;

FIG. 7A is a side view of decoupled attachment members, according to anexemplary embodiment of the invention;

FIG. 7B is a side view of coupled attachment members, according to anexemplary embodiment of the invention;

FIG. 8 is a perspective view of a portion of a handle showing attachmentmembers, according to an exemplary embodiment of the invention;

FIG. 9A is a side view of attachment members in a decoupledconfiguration, according to an exemplary embodiment of the invention;

FIG. 9B is a side view of attachment members in a coupled configuration,according to an exemplary embodiment of the invention;

FIG. 10 is a side view of attachment members in a coupled configuration,according to an exemplary embodiment of the invention;

FIG. 11A is a side view of attachment members in a decoupledconfiguration, according to an exemplary embodiment of the invention;and

FIG. 11B is a side view of attachment members in a coupledconfiguration, according to an exemplary embodiment of the invention.

DESCRIPTION OF THE EMBODIMENTS

Reference will now be made to exemplary embodiments of the invention,examples of which are illustrated in the accompanying drawings. Whereverpossible, the same reference numbers will be used throughout thedrawings to refer to the same or like parts.

FIG. 1 depicts a device 10, according to an exemplary embodiment.

Device 10 is shown in a detached configuration, whereby a handle 50 isshown separated from a catheter 70. As described herein, handle 50 andcatheter 70 are configured for releasable coupling. Specifically, handle50 can be attached to catheter 70 to allow handle 50 to control amovement, actuation, and/or operation of catheter 70. Handle 50 can alsobe detached from catheter 70 so that other catheters 70 may be attachedto handle 50.

In some embodiments, handle 50 could be reusable and catheter 70 couldbe disposable. Multiple catheters 70, having different end-effectors,could be used interchangeably with a single handle 50. Various differentcatheters 70 could be provided together in kit form, wherein eachcatheter 70 has a different end-effector.

Device 10 can include a medical device configured for use with asurgical method, including a therapeutic or diagnostic procedure. Forexample, device 10 can be configured for use with an endoscope, a guidetube, an access catheter, or other type of device configured to access apatient's body. Device 10 may be used for procedures within or adjacentto various body organs, such as, an esophagus, a heart, a stomach, apelvic area, a bladder, an intestine, or any other portion of agastrointestinal, urinary, or pulmonary tract.

Device 10 may be configured for insertion into a patient's body throughan anatomical opening. In other embodiments, device 10 may be used innatural orifice transluminal endoscopic surgery (NOTES) procedures orsingle incision laparoscopic surgical (SILS) procedures. Accordingly,device 10 can be shaped and sized for placement into a patient via abody cavity or an incision.

Device 10 can have a proximal end 20, a distal end 30, and alongitudinal axis 40. Handle 50 can include a distal end 55. Catheter 70can include a proximal end 75. As shown in FIG. 1, distal end 55 ofhandle 50 can be configured to engage proximal end 75 of catheter 70.Distal end 55 can also be configured to engage another part of catheter70. Also, another part of handle 50 can be configured to engage toproximal end 75 or another part of catheter 70.

Catheter 70 can be elongate and may include a shaft 72. Shaft 72 can beflexible and may include one or more lumens (not shown). Catheter 70 canalso include a rail 65 configured to moveably couple a frame (not shown)to permit movement of device 10 along or about longitudinal axis 40.Catheter 70 can also include a steering section 130.

As shown in FIG. 1, steering section 130 can be located at or neardistal end 30. In other embodiments, steering section 130 can be locatedanywhere along shaft 72, or encompass the entire length of shaft 72. Inoperation, a user can manipulate steering section 130 to move distal end30 up, down, left, or right. Handle 50 can be configured to controlmovement of catheter 70 in one or more directions relative tolongitudinal axis 40.

Handle 50 can include a grip 80 moveably coupled to a handle body 90.Grip 80 can be an actuator configured to receive user inputs. Forexample, grip 80 could be configured to engage a left hand or a righthand of a user. Grip 80 could include a ridge located to separate twoadjacent fingers, a surface conforming to part of a human hand, or anaperture configured to receive two or more digits of a user. Anexemplary handle is described in U.S. Patent Application Publication No.2008/0188868, which is incorporated by reference here in its entirety.

Movement of a user's hand may move grip 80 relative to body 90 to movecatheter 70. Movement of handle 50 along or about longitudinal axis 40may move catheter 70 along or about longitudinal axis 40. In otherembodiments, handle 50 can include one or more knobs, dials, levers, orother devices configured to control catheter 70.

Handle 50 can be configured to provide direct manual user control ofcatheter 70. For example, handle 50 can be configured to selectivelymove catheter 70 using direct manual user movement. In some embodiments,movement or forces can be mechanically transmitted from handle 50 tocatheter 70 via one or more control members 250, 255. One or more handlecontrol members 250 may extend within handle 50 and one or more cathetercontrol members 255 may extend within catheter 70. Handle 50 may moveone or more control members 250, 255 to move one or more parts ofcatheter 70.

Control members 250, 255 can include a cable, a wire, a ribbon, or othertype of elongate element configured to transfer a movement or amechanical force. Control members 250, 255 can be configured to transfertensile force, compressive force, or both tensile and compressiveforces. For example, control members 250, 255 could include a metalalloy, braided synthetic thread, coil, or similar flexible materialconfigured to transfer a tensile force. Control members 250, 255 may besized and shaped depending on load requirements and geometricconstraints.

Control members 250, 255 are described herein as including variousfeatures and having various functions. One of ordinary skill will alsoappreciate that these various features and functions are interchangeablebetween handle control members 250 and catheter control members 255.That is, either handle control member 250 or catheter control member 255could include one or more features or functions ascribed to a particularcontrol member.

As explained below, handle control members 250 may be releasably coupledto catheter control members 255, wherein each handle control member 250can be coupled to a corresponding catheter control member 255. In someembodiments, a securing member 60 can be configured to move toreleasably couple handle control members 250 and catheter controlmembers 255.

FIG. 2 depicts a cut-away perspective view of handle 50, wherein anouter layer of handle 50 has been removed to reveal a frame 200. Asshown, grip 80 can be moveably coupled to frame 200 via a grip shaft 210and a trunion 220. Grip 80 may also be coupled to frame 200 using ahinge, a flexible member, or other type of moveable coupling.

Grip 80 can be configured for rotational movement about one or more axesrelative to frame 200. For example, grip 80 can be rotated forward orbackwards by a user about a lateral axis 230 to provide up or downarticulation of catheter 70. Grip 80 can be rotated about grip shaftaxis 240 to provide left or right articulation of catheter 70. Forwardor backward movement of a user's hand along longitudinal axis 40 maymove handle 50 and catheter 70 forward or backwards along longitudinalaxis 40. In other embodiments, different movements of grip 80 canselectively move catheter 70.

Grip 80 can include a trigger 100 that may be moved to provide actuationof an end-effector located on catheter 70. Trigger 100 can be positionedon grip 80 for control by a user's thumb or for finger control, Trigger100 could also be located on frame 200.

Handle control members 250 can be coupled to trunion 220, grip 80, gripshaft 210, trigger 100, or similar components such that movement ofthose components can provide movement of handle control members 250relative to frame 200, For example, trigger 100 can be coupled to handlecontrol member 250 within grip 80. Such a trigger control member 250 maythen pass through grip 80, through grip shaft 210 and through frame 200.Moving trigger 100 can move the trigger control member 250 toselectively actuate an end-effector. Movement of one or more controlmembers 250 can move one or more catheter control members 255 toselectively articulate or actuate catheter 70.

At least part of handle control member 250 can include a Bowden cable260. Bowden cable 260 can include a sheath 265 surrounding at least partof handle control member 250. Relative movement between sheath 265 andhandle control member 250 can transfer compressive or tensile forces.Compressive forces can be transferred through sheath 265 and tensileforces can be transferred through handle control member 250. Tensileforces may also be applied to handle control member 250 by passingcontrol member 250 through part of frame 200, For example, handlecontrol members 250 could pass through a plate 202 or a hub 204,

FIG. 3A depicts an end-effector 110 for use with device 10. End-effector110 is shown in FIG. 3A in three different positions; vertical; fortyfive degrees relative to vertical; and horizontal. End-effector 110 canbe moved as indicated by arrows 125 in various directions relative tolongitudinal axis 40 by movement of one or more catheter control members255 coupled to steering section 130.

Steering section 130 can include a plurality of articulation links 135.Articulation links 135 can be moved relative to adjacent links via apivot, flexible connection, sliding engagement, bearing, or other typeof joint. One or more articulation links 135 can be coupled to one ormore catheter control members 255 to control movement of steeringsection 130.

As shown in FIG. 3A, steering section 130 can be articulated relative tolongitudinal axis 40. Although FIG. 3A shows steering section 130 movingabout 90 degrees from longitudinal axis 40, steering section 130 maymove through a greater or lesser range of angles relative tolongitudinal axis 40. Further, steering section 130 could be articulatedin multiple directions relative to longitudinal axis 40, such as, forexample, in and out of the page.

In some embodiments, end-effector 110 can include a grasper 115 havingone or more movable jaw members 120 hingedly attached to catheter 70.Grasper 115 can be configured to grasp tissue. Jaw members 120 may beactuated to move relative to each other. For example, jaw members 120can be configured to assume an open configuration 135, a closedconfiguration 140, or any configuration therebetween.

FIG. 3B depicts various end-effectors configured for use with catheter70. These and other types of end-effectors may be distally located oncatheter 70 and can be articulated or actuated. One or more cathetercontrol members 255 can be moved to control articulation of steeringsection 130 and one or more different catheter control members 255 canbe moved to control actuation of one or more moveable members ofend-effector 110.

A dissector 150 and a pair of scissors 160 can be provided. Bothdissector 150 and scissors 160 can include multiple catheter controlmembers 255 configured to provide articulation and actuation of bothtypes of end-effectors. End-effector could also include anelectrosurgical hook 170, having a hook 180 configured to apply ablativeenergy to tissue. Electrosurgical hook 170 may require articulation andmay not require actuation. Catheter 70 could also include a tube 190configured to provide suction or irrigation to a region distal ofcatheter 70. Tube 190 may not require articulation or actuation.

FIG. 4A is an enlarged cross-sectional side view of device 10 in adetached configuration, whereby handle 50 is decoupled from catheter 70.FIG. 4B shows device 10 as attached, whereby handle 50 is coupled tocatheter 70. Handle 50 and catheter 70 can be configured for releasablecoupling. For example, distal end 55 of handle 50 and proximal end 75 ofcatheter 70 can be releasably coupled. Distal end 55 can include a lumen82 configured to receive proximal end 75. As explained below, handle 50and catheter 70 could couple using a bayonet connection, a threadedconnection, or other type of mechanical coupling.

FIGS. 4A and 4B show securing member 60 as part of distal end 55 ofhandle 50. Securing member 60 could be part of proximal end 75 ofcatheter 70 or could connect separately to handle 50 and catheter 70.While handle 50 is shown with one handle control member 250 and catheter70 is shown with one catheter control member 255, handle 50 and catheter70 could include multiple control members 250, 255.

Securing member 60 can be moved to releasably couple a plurality ofhandle control members 250 and a plurality of catheter control member255. Securing member 60 can be configured to move relative to handle 50or catheter 70. For example, securing member 60 can move rotationally orlongitudinally relative to handle 50. In particular, securing member 60may move distally from a first position 62 (as shown in FIG. 4A) to asecond position 64 (as shown in FIG. 4B). Handle control member 250 mayremain in a fixed position relative to handle 50 as securing member 60is moved from first position 62 to second position 64. Securing member60 can also move proximally from second position 64 to first position62. Such movements can couple and decouple handle 50 and catheter 70.Various other types of movement or positioning of securing member 60 arealso contemplated, such as, for example, longitudinal and rotationalmovement.

Control members 250, 255 can be configured for releasable coupling. Insome embodiments, control members 250, 255 can each include one or moreattachment members configured for releasable coupling. As shown, handlecontrol member 250 can include an attachment member 252 and cathetercontrol member 255 can include a corresponding attachment member 256. Inother embodiments, handle control member 250 could include attachmentmember 256 and catheter control member 255 could include correspondingattachment member 252.

Attachment member 252 and corresponding attachment member 256 can beconfigured to releasably couple to each other. Various types ofattachment members 252, 256 are contemplated. Some may couple usingstraight-line attachment, such as, for example, as shown in FIGS. 4A and4B.

In operation, proximal end 75 of catheter 70 may be positioned adjacentto distal end 55 of handle 50. Securing member 60 may initially be infirst position 62 such that attachment member 252 can be located withinlumen 82, as shown in FIG. 4A, Attachment member 252 and correspondingattachment member 256 may be aligned based on complementary shapes ofattachment members 252, 256, complementary shapes of distal end 75 andlumen 82, or one or more alignment features (not shown). For example, afirst attachment member 252 could have a first shape configured tocouple with only a first attachment member 256, and a second attachmentmember 252 could have a second shape different to the first shape andconfigured to couple with only a second attachment member 256.

Proximal end 75 can then be moved proximally within lumen 82 to locateattachment member 252 within corresponding attachment member 256. Asdistal end 75 moves proximally, a retaining member 85 may be configuredto generally maintain a position of attachment member 252 relative tolumen 82. Retaining member 85 may be necessary to ensure that attachmentmember 252 is not inadvertently moved proximally by the proximalmovement of distal end 75. If attachment member 252 is inadvertentlymoved proximally, attachment members 252, 256 may not properly engage.

In some embodiments, retaining member 85 can be biased to apply atensile force to attachment member 252 to limit the movement ofattachment member 252. The tensile force applied to attachment member252 may be sufficient to maintain a position of attachment member 252relative to lumen 82. Such a tensile force should not affect movement ofhandle control member 250.

Retaining member 85 can include a spring, a button, a lever, a latch, orsimilar device. Retaining member 85 could be coupled to attachmentmembers 252, 256 or control members 250, 255. For example, one or moreretaining members 85 could be configured to retain a position of one ormore handle control members 250 relative to handle 50 or a position ofone or more catheter control members 255 relative to catheter 70.

Retaining member 85, or similar biasing, can be used for any connectiondescribed herein. Such a mechanism may reduce slack and/or lock elementsto be connected or disconnected. Various mechanism to tension and lockelements can include hook and loop, ball and slot, tab and hole, orthreaded connections.

In some embodiments, proximal movement of retaining member 85 may belimited. For example, securing member 60 could include a stop feature 87configured to limit proximal movement of retaining member 85. Stopfeature 87 could include a ledge, a step, or similar structure.

Control members 250, 255 may initially be provided in an untensioned ora relaxed state. Such a state may reduce forces applied to controlmembers 250, 255 to reduce the likelihood that control member 250, 255could be stretched during storage, shipping, or sterilization. Varioussystems may be used to untension or tension one or more control members250, 255.

In some embodiments, catheter control member 255 may be located in alumen 103 extending within proximal end 75 of catheter 70. Lumen 103 canbe shaped and sized to receive catheter control member 255. Lumen 103can also include a lumen 102 shaped and sized to receive attachmentmember 256. Lumen 102 can form part of lumen 103. For example, lumen 102can be located proximal to lumen 103. Lumen 103 can also be shaped andsized to limit distal movement of attachment member 256.

As shown in FIGS. 4A and 4B, proximal end 75 can include a transitionfeature 89 located between lumen 103 and lumen 102. Transition feature89 can include a ledge, a step, or similar structure configured to limitdistal movement of attachment member 256. In particular, transitionfeature 89 may limit distal movement of attachment member 256 asattachment members 252, 256 are coupled together.

Lumen 103 could also include a lumen 104 configured to receiveattachment member 256 following coupling of attachment members 252, 256.As shown in FIG. 4B, coupled attachment members 252, 256 can be movedproximally and distally within lumen 104 to permit the transfer toforces or movement between control members 255, 250. Proximal end 75 canalso include a transition feature 91 located between lumen 102 and lumen104. In some embodiments, transition feature 91 can include a slope, ataper, or similar structure configured to permit coupling or decouplingof attachment members 252, 256. Attachment members 252, 256 may furtherinclude magnetic or geometric locking parts to enhance connections.

FIG. 4A shows attachment member 256 in an open configuration 262,wherein attachment member 256 can be located within lumen 102. In openconfiguration 262, attachment member 252 may be moved longitudinally toposition attachment member 252 within corresponding attachment member256. Coupling and decoupling of attachment members 256, 252 may occur bymoving attachment members 256, 252 between lumen 102 and lumen 104.

FIG. 4B shows attachment member 256 in closed configuration 264, whereinattachment member 256 can be located within lumen 104. In closedconfiguration 264, attachment member 252 may be held withincorresponding attachment member 256 such that attachment members 252,256 are coupled to permit transfer of movement or forces between controlmembers 250, 255. Following coupling, movement of control members 250,255 may move coupled attachment members 252, 256 within lumen 104.

Lumen 102 can also be configured to maintain catheter control member 255in an untensioned state. For example, attachment member 256 mayinitially be located within lumen 102. Lumen 102 may be located distalto lumen 104. Moving attachment member 256 proximally from lumen 102into lumen 104 may function to tension catheter control member 255.Sufficient tension could be applied to ensure appropriate transfer offorces and movement along catheter control member 255.

Attachment member 256 can be biased. For example, attachment member 256could be biased in open configuration 262 or closed configuration 264.Also, lumen 102 can be configured to maintain attachment member 256 inopen configuration 262. For example, lumen 102 could be dimensioned topermit attachment member 256 to assume open configuration 262, as shownin FIG. 4A. Specifically, lumen 102 may have an inner diametersufficient to permit attachment member 256 to assume open configuration262.

Once proximal end 75 of catheter 70 is located within lumen 82 of handle50 and attachment member 252 is located within corresponding attachmentmember 256, securing member 60 may be moved from first position 62 tosecond position 64. As shown in FIG. 4B, the movement of securing member60 to second position 64 may move coupled attachment members 252, 256into lumen 104.

Lumen 104 can be configured to receive attachment member 256. Lumen 104can be further configured to provide attachment member 256 in closedconfiguration 264. For example, lumen 104 may be dimensioned to causeattachment member 256 to assume closed configuration 264. In otherembodiments, lumen 104 could include a surface, a protrusion, or otherfeature configured to provide closed configuration 264. Lumen 104 mayapply a compressive force to attachment member 256 to maintain closedconfiguration 264. Closed configuration 264 can maintain couplingbetween attachment members 252, 256 by limiting the relative movementbetween attachment members 252, 256.

In closed configuration 264, attachment members 252, 256 may providecoupling between handle control member 250 and catheter control member255. This coupling can be released by moving attachment member 256 fromlumen 104 to lumen 102. For example, moving securing member 60 fromsecond position 64 (as shown in FIG. 48) to first position 62 (as shownin FIG. 4A) can move attachment members 256 from lumen 104 to lumen 102.Moving attachment member 256 from lumen 104 to lumen 102 can transitionattachment member 256 from closed configuration 264 to openconfiguration 262. In open configuration 262, attachment member 252 canbe decoupled from corresponding attachment member 256.

Movement of securing member 60 may be locked using a locking collar 72.Locking collar 72 could be configured for lateral movement relative tosecuring member 60 to limit longitudinal or rotational movement ofsecuring member 60. Locking collar 72 also could be biased to move inand out of an indentation 73 to lock and unlock securing member 60.Other locking systems could include a lever, a cam lock, a rack andpawl, a knob, a thumb wheel and rack, or a worm gear.

As shown in FIG. 4B, an end 74 of locking collar 72 can engageindentation 73 configured to receive end 74. Indentation 73 could bemechanically coupled to securing member 60 such that engagement betweenend 74 and indentation 73 can limit relative movement between securingmember 60 and handle 50. Other couplings between locking collar 72 andsecuring member 60 are also contemplated.

In some embodiments, locking collar 72 could be configured to locksecuring member 60 in more than one position. As shown in FIGS. 4A and4B, locking collar 72 can be configured to lock securing member 60 insecond position 64. Locking securing member 60 can ensure that unwanteddecoupling of control members 250, 255 does not occur.

As well as control members 250, 255, handle 50 and catheter 70 can bereleasably coupled and locked. Handle 50 and catheter 70 can be coupledto ensure correct alignment of control members 250, 255. Also, handle 50and catheter 70 can be lockable to limit a relative movement betweenhandle 50 and catheter 70.

As shown in FIGS. 4A and 4B, handle 50 can include a handle connector270 and catheter 70 can include a catheter connector 280, wherebyconnectors 270, 280 are configured to releasably couple. Handleconnector 270 can include a key 92 configured to engage a keyway 274 ofcatheter connector 280. Alternatively, keyway 274 can be located onhandle connector 270 and key 92 can be located on catheter connector280. Other types of connectors 270, 280 could include a button, a lever,a cam, a rack and a pawl, a tab, or a thumb wheel and a gear. Handle 50and catheter 70 could be connected using a collet, a ball and socket, a¼ turn fastener, or a magnetic element.

Handle 50 and catheter 70 may be connected using straight-line movementor rotational movement. FIG. 5 depicts a partial cut away view of handle50 and catheter 70 configured for straight-line connection. As shown,distal end 55 of handle 50 includes a straight keyway 274 and proximalend 75 of catheter 70 includes key 92. Distal end 55 also includes athread 290 configured to threadably engage a threaded ring 292 locatedon proximal end 75. Threaded ring 292 may be rotatably coupled toproximal end 75.

Threaded ring 292 can be configured to rotate relative to catheter 70and thread 290. Once key 92 has been moved longitudinally to a positionwithin keyway 274, thread 290 may be rotated relative to threaded ring292 to lock handle 50 and catheter 70. One or more keys 92 may beconfigured to engage one or more keyways 274. A latch, a clip, athumbscrew, or other locking device may also be used to lock handle 50and catheter 70.

FIG. 6 depicts distal end 55 of handle 50 configured for rotationalconnection with catheter 70. Handle 50 and catheter 70 can be connectedusing a bayonet or a luer lock type connection. In operation, key 92located on proximal end 75 of catheter 70 may initially be placed withinkeyway 274 and moved longitudinally within keyway 274. Distal end 55 andproximal end 75 may then be rotated relative to each other aboutlongitudinal axis 40 to move key 92 tangentially about distal end 55 ofhandle 50. Tangential movement of key 92 within keyway 274 can move key92 to a locking position 278. When key 92 is located at locking position278, a compressive force between handle 50 and catheter 70 may berequired to release key 92 from keyway 274. To permit rotationalcoupling of handle 50 and catheter 70, control members 250 may eachinclude a rotational attachment member 315.

FIGS. 7A and 7B depict rotational attachment member 315 located onhandle control member 250 and a corresponding attachment member 340located on catheter control member 255. Each attachment member 315, 340can be configured to releasably couple using rotational movement ofhandle 50 relative to catheter 70. Attachment member 315 may also belocated on catheter control member 255.

Attachment member 315 can include a cavity 350 configured to receive ahead 370 of attachment member 340. Attachment member 340 can alsoinclude a neck 380 configured for placement within a distal opening 330of cavity 350. Head 370 can be rotated into cavity 350 via a lateralopening 320 of cavity 350. For example, as key 92 is moved into lockingposition 278 of keyway 274, attachment member 340 can be moved intocavity 350, as shown in FIGS. 7A, 7B. This can ensure that distal end 55of handle 50 and proximal end 75 of catheter 70 are coupled together ascontrol members 250, 255 are coupled together.

FIG. 7B depicts attachment member 340 coupled to attachment member 315.As shown, head 370 can be located within cavity 350 to couple attachmentmembers 340, 315. Longitudinal movement of handle control member 250 maybe transferred to catheter control member 255 by coupling between head370 and a wall 385 of attachment member 315. Distal opening 330 can beconfigured to receive neck 380 such that longitudinal movement can betransferred between control members 250, 255.

FIG. 8 depicts distal end 55 of handle 50 having attachment members 315configured for rotational coupling. As shown, attachment members 315 areconfigured to rotationally couple to corresponding attachment members(not shown). That is, handle 50 can be rotated clockwise relative tocatheter 70 (not shown) to couple attachment members 315, 340 androtated anticlockwise to decouple attachment members 315, 340. Lateralopenings 330 can be oriented to receive multiple corresponding heads 370simultaneously. Lateral openings 330 could also be configured to receiveheads 370 using anticlockwise rotation.

It is also contemplated that attachment member 340 can include any shapeconfigured to engage cavity 350. For example, head 370 could be “L”shaped and may pass into cavity 350 via only lateral opening 320. Insuch an embodiment, attachment member 315 may not require distal opening330 and may only include lateral opening 320. One or more openings 320,330 may also be variously shaped to permit passage of head 370 intocavity 350.

FIGS. 9A and 9B depict, respectively, attachment members 340, 315 asuncoupled and attachment members 340, 315 as coupled. In someembodiments, distal end 55 of handle 50 can include a lumen 390configured to receive attachment member 315. Lumen 390 can be configuredto at least partially maintain coupling between attachment members 340,315. In other embodiments, catheter 70 can include lumen 390.

Initially, attachment member 315 can extend distally beyond adistal-most end 400 of lumen 390. Retaining member 85 may be configuredto limit relative movement between attachment member 315 and lumen 390.As shown, retaining member includes a card 86 configured for placementbetween cavity 350 and distal-most end 400. Card 86 could be a plate, orother stopping structure. As previously explained, one or more otherretaining members 85 could also be used.

With attachment member 315 extending beyond lumen 390, attachment member340 can be moved rotationally to position head 370 within cavity 350.Once head 370 is properly positioned within cavity 350, retaining member85 may be removed to permit longitudinal movement of engaged attachmentmembers 315, 340 within lumen 390. As explained above, securing member60 (not shown) can be configured to move attachment members 315, 340longitudinally with respect to lumen 390.

FIG. 9B depicts coupled attachment members 315, 340 located within lumen390. Lumen 390 can be configured to at least partially limit relativemovement between attachment members 340, 315. For example, a surface 395of lumen 390 may limit the lateral movement of attachment member 340relative to attachment member 315. Lumen 390 can also be configured tolimit the movement of head 370 relative to cavity 350. Such limitedmovement may maintain the coupling between attachment members 340, 315to permit the transmission of movement or forces between control members250, 255. To decouple attachment members 340, 315, they may be moveddistally by securing member 60 to beyond distal-most end 400 of lumen390, then rotated to move heads 370 out of cavities 350.

FIG. 10 depicts another embodiment of lumen 390 showing a straight-lineconnection between attachment members 252, 256. Attachment members 252,256 are shown coupled within lumen 390. Similar to the rotationalattachment shown in FIGS. 9A and 9B, attachment member 256 may beinitially located distal of distal-most end 400 of lumen 390. Attachmentmember 256 located outside lumen 390 can be configured to assume openconfiguration 262 whereby arms 355 extend laterally to permit locatinghead 375 between open arms 355 (not shown).

Securing member 60 may then move distally (to the left) to move lumen390 over attachment member 256, as shown in FIG. 10. Lumen 390 may beconfigured to transition attachment member 256 from open configuration262 to closed configuration 264. Such movement can cause arms 355 tocollapse about head 375 to couple attachment members 252, 256. Duringdistal movement of securing member 60, retaining member 85 can provide aslight tensile force to maintain positioning of attachment member 256against attachment member 252.

To decouple attachment members 256, 252, securing member 60 can moveproximally (to the right) to move arms 355 out of lumen 390. Once beyonddistal-most end 400, arms 355 can reopen to permit removal of head 375from between arms 355. Coupling and decoupling attachment member 252,256 can releasably couple control members 250, 255.

FIGS. 11A and 11B depict another embodiment of lumen 390 showing astraight-line connection between attachment member 252 and correspondingattachment member 510. Attachment member 252 can be coupled to cathetercontrol member 255 and can include a neck 480 and a head 475. Attachmentmember 510 can be coupled to handle control member 250 (not shown) andcan include a clip 500 configured to move relative to a tubular member520. Tubular member 520 can be configured to receive attachment member252.

Clip 500 can be configured to assume an open configuration and a closedconfiguration to releasably couple attachment members 510, 252. In someembodiments, clip 500 may be moved relative to tubular member 520 usingsecuring member 60 (not shown). For example, clip 500 may move alonglongitudinal axis 40 relative to tubular member 520. This longitudinalmovement may cause clip 500 to open or close.

FIG. 11B depicts clip 500 in a closed configuration. As shown, two cliparms 550 can extend through one or more slots 530 of tubular member 520to engage neck 480 of attachment member 252. Such engagement can limitlongitudinal movement between attachment members 510, 252. To decoupleattachment members 510, 252, clip 500 could be moved longitudinallyrelative to tubular member 520. The longitudinal movement could causearms 550 to open as they are removed from within tubular member 520.Other types of attachment members could also be configured forreleasable coupling.

Other embodiments of the invention will be apparent to those skilled inthe art from consideration of the specification and practice of theinvention disclosed herein. It is intended that the specification andexamples be considered as exemplary only, with a true scope and spiritof the invention being indicated by the following claims.

What is claimed is:
 1. A device comprising: a handle body having aproximal end and a distal end, the handle body configured to releasablycouple to a shaft; an actuator coupled to the handle body; and a handlecontrol member coupled to the actuator, wherein the actuator isconfigured to move relative to the handle body to move the handlecontrol member relative to the handle body, wherein a distal end of thehandle control member includes an attachment member for releasablycoupling the distal end of the handle control member to a proximal endof a shaft control member within the shaft, wherein the handle controlmember includes a retaining member, wherein the retaining member isconfigured to transition between a first configuration, in which thehandle control member has a first length, and a second configuration, inwhich the handle control member has a second length, shorter than thefirst length, wherein the retaining member is biased into the firstconfiguration, and wherein the retaining member includes at least one ofa spring, a button, a lever, or a latch.
 2. The device of claim 1,wherein the handle control member includes at least one of a cable, awire, a thread, a coil, or a ribbon.
 3. The device of claim 1, whereinthe actuator includes at least one of a knob, a dial, a lever, or arotatable grip.
 4. The device of claim 1, wherein the attachment member(a) includes a protrusion extending radially outward from a longitudinalaxis of the handle control member or (b) defines a cavity.
 5. The deviceof claim 1, further comprising the shaft, wherein the attachment memberis a first attachment member, wherein the shaft control member includesa second attachment member at a proximal end of the shaft controlmember.
 6. The device of claim 5, wherein one of the first attachmentmember or the second attachment member includes a protrusion and another of the first attachment member or the second attachment memberdefines a cavity for receiving the protrusion.
 7. The device of claim 6,wherein the cavity is configured to be coupled to the protrusion via (a)axial movement of the protrusion relative to the cavity, (b) rotationalmovement of the protrusion relative to the cavity, or (c) a clipconfigured to selectively engage the protrusion.
 8. The device of claim1, further comprising a lock positioned at the distal end of the handlebody, wherein the lock is movable relative to the handle body, andwherein the lock is configured to secure the shaft to the handle body.9. The device of claim 1, wherein the distal end of the handle controlmember is proximal of the distal end of the handle body.
 10. The deviceof claim 1, wherein the handle control member is a first handle controlmember, the attachment member is a first attachment member, and theshaft control member is a first shaft control member, further comprisinga second handle control member terminating at a distal end, wherein thedistal end of the second handle control member includes a secondattachment member for releasably coupling the distal end of the secondhandle control member to a proximal end of a second shaft control memberwithin the shaft.
 11. The device of claim 10, wherein the firstattachment member has a first shape to complement the first shaftcontrol member, and wherein the second attachment member has a secondshape, different from the first shape, to complement the second shaftcontrol member.
 12. A device comprising: a handle body having a proximalend and a distal end, the handle body configured to releasably couple toa shaft; and a handle control member configured to move relative to thehandle body in order to articulate a portion of the shaft when the shaftis releasably coupled to the handle body, wherein a distal end of thehandle control member includes an attachment member for releasablycoupling the distal end of the handle control member to a proximal endof a shaft control member within the shaft, wherein the handle controlmember includes a retaining member, wherein the retaining member isconfigured to transition between a first configuration, in which thehandle control member has a first length, and a second configuration, inwhich the handle control member has a second length, shorter than thefirst length, wherein the retaining member is biased into the firstconfiguration, and wherein the retaining member includes at least one ofa spring, a button, a lever, or a latch.
 13. The device of claim 12,further comprising the shaft, wherein the attachment member is a firstattachment member, wherein the shaft control member includes a secondattachment member at a proximal end of the shaft control member.
 14. Thedevice of claim 13, wherein one of the first attachment member or thesecond attachment member includes a protrusion, and an other of thefirst attachment member or the second attachment member defines a cavityfor receiving the protrusion.
 15. The device of claim 14, wherein thecavity is configured to be coupled to the protrusion via (a) axialmovement of the protrusion relative to the cavity, (b) rotationalmovement of the protrusion relative to the cavity, or (c) a clipconfigured to selectively engage the protrusion.
 16. A devicecomprising: a handle body having a proximal end and a distal end, thehandle body configured to releasably couple to a shaft; and a handlecontrol member configured to move relative to the handle body, wherein adistal end of the handle control member includes an attachment memberfor releasably coupling the distal end of the handle control member to aproximal end of a shaft control member within the shaft, wherein theattachment member includes at least one of a protrusion or a cavity,wherein the handle control member includes a retaining member, whereinthe retaining member is configured to transition between a firstconfiguration, in which the handle control member has a first length,and a second configuration, in which the handle control member has asecond length, shorter than the first length, wherein the retainingmember is biased into the first configuration, and wherein the retainingmember includes at least one of a spring, a button, a lever, or a latch.17. The device of claim 16, wherein the handle control member is coupledto an actuator, and wherein movement of the handle control member isconfigured to articulate a portion of the shaft when the shaft isreleasably coupled to the handle body.
 18. The device of claim 15,wherein the handle control member is a first handle control member, theattachment member is a first attachment member, and the shaft controlmember is a first shaft control member, further comprising a secondhandle control member terminating at a distal end, wherein the distalend of the second handle control member includes a second attachmentmember for releasably coupling the distal end of the second handlecontrol member to a proximal end of a second shaft control member withinthe shaft, wherein the first attachment member has a first shape tocomplement the first shaft control member, and wherein the secondattachment member has a second shape, different from the first shape, tocomplement the second shaft control member.